Team_2648/2025_Robot_Code
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Team 2648 2025-04-05 08:23:29 -04:00
parent e98b3a585e
commit c75554dfc5
2 changed files with 2 additions and 6 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -226,8 +226,8 @@ public class RobotContainer {
operator.back().onTrue(elevator.homeCommand()); operator.back().onTrue(elevator.homeCommand());
operator.start().toggleOnTrue( operator.start().toggleOnTrue(
climberPivot.runPivot(() -> -operator.getRightY()*0.5) climberPivot.runPivot(() -> -operator.getRightY())
.alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5))); .alongWith(climberRollers.runRoller(() -> operator.getLeftY())));
operator.a().onTrue( operator.a().onTrue(
safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition) safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)

4
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -188,8 +188,6 @@ public class Drivetrain extends SubsystemBase {
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
}else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){ }else if(vision.getOrangeDist() < 100 && Math.abs(getVelocity()) > 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
}else if(getVelocity() < 1.5){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.06, 0.06, Units.degreesToRadians(360)));
} }
// if the detected tags match your alliances reef tags use their pose estimates // if the detected tags match your alliances reef tags use their pose estimates
@ -216,8 +214,6 @@ public class Drivetrain extends SubsystemBase {
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.2, 0.2, Units.degreesToRadians(360)));
}else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){ }else if(vision.getBlackDist() < 100 && Math.abs(getVelocity()) > 3){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360))); m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.3, 0.3, Units.degreesToRadians(360)));
}else if(getVelocity() < 1.5){
m_estimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.06, 0.06, Units.degreesToRadians(360)));
} }
if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){ if(vision.getBlackClosestTag() >= 6 && vision.getBlackClosestTag() <= 11 && DriverStation.getAlliance().get().equals(Alliance.Red) && vision.getBlackTagDetected()){